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   &#160;<span id="projectnumber">1.5.2</span>
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<a href="#nested-classes">Data Structures</a> &#124;
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<p>EtherCAT slave configuration structure.  
<a href="#details">More...</a></p>

<p><a href="slave__config_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__slave__config.html">ec_slave_config</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">EtherCAT slave configuration.  <a href="structec__slave__config.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
Macros</h2></td></tr>
<tr class="memitem:a7eeb6d909155c106ec7e67f19c2c85ad"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#a7eeb6d909155c106ec7e67f19c2c85ad">EC_CONFIG_INFO</a>(sc,  fmt,  args...)</td></tr>
<tr class="memdesc:a7eeb6d909155c106ec7e67f19c2c85ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience macro for printing configuration-specific information to syslog.  <a href="#a7eeb6d909155c106ec7e67f19c2c85ad">More...</a><br /></td></tr>
<tr class="separator:a7eeb6d909155c106ec7e67f19c2c85ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a295443b66bd44e07fe464ed83ead05fc"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#a295443b66bd44e07fe464ed83ead05fc">EC_CONFIG_ERR</a>(sc,  fmt,  args...)</td></tr>
<tr class="memdesc:a295443b66bd44e07fe464ed83ead05fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience macro for printing configuration-specific errors to syslog.  <a href="#a295443b66bd44e07fe464ed83ead05fc">More...</a><br /></td></tr>
<tr class="separator:a295443b66bd44e07fe464ed83ead05fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3115d8b69eddec5caf436c109fbf5b41"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#a3115d8b69eddec5caf436c109fbf5b41">EC_CONFIG_WARN</a>(sc,  fmt,  args...)</td></tr>
<tr class="memdesc:a3115d8b69eddec5caf436c109fbf5b41"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience macro for printing configuration-specific warnings to syslog.  <a href="#a3115d8b69eddec5caf436c109fbf5b41">More...</a><br /></td></tr>
<tr class="separator:a3115d8b69eddec5caf436c109fbf5b41"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7aa9e6ccd549993399cfb813f6f81643"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#a7aa9e6ccd549993399cfb813f6f81643">EC_CONFIG_DBG</a>(sc,  level,  fmt,  args...)</td></tr>
<tr class="memdesc:a7aa9e6ccd549993399cfb813f6f81643"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience macro for printing configuration-specific debug messages to syslog.  <a href="#a7aa9e6ccd549993399cfb813f6f81643">More...</a><br /></td></tr>
<tr class="separator:a7aa9e6ccd549993399cfb813f6f81643"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a1f74fc37c81571a4ce339c0fb07d6223"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#a1f74fc37c81571a4ce339c0fb07d6223">ec_slave_config_init</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *, <a class="el" href="group__ApplicationInterface.html#ga60ec31b46fcf7994c511359402c64baa">ec_master_t</a> *, uint16_t, uint16_t, uint32_t, uint32_t)</td></tr>
<tr class="memdesc:a1f74fc37c81571a4ce339c0fb07d6223"><td class="mdescLeft">&#160;</td><td class="mdescRight">Slave configuration constructor.  <a href="#a1f74fc37c81571a4ce339c0fb07d6223">More...</a><br /></td></tr>
<tr class="separator:a1f74fc37c81571a4ce339c0fb07d6223"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5eb139fdc11dfc4c540fc43259eaa773"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#a5eb139fdc11dfc4c540fc43259eaa773">ec_slave_config_clear</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *)</td></tr>
<tr class="memdesc:a5eb139fdc11dfc4c540fc43259eaa773"><td class="mdescLeft">&#160;</td><td class="mdescRight">Slave configuration destructor.  <a href="#a5eb139fdc11dfc4c540fc43259eaa773">More...</a><br /></td></tr>
<tr class="separator:a5eb139fdc11dfc4c540fc43259eaa773"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab03a5b77c51578728a32d17d007364cc"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#ab03a5b77c51578728a32d17d007364cc">ec_slave_config_attach</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *)</td></tr>
<tr class="memdesc:ab03a5b77c51578728a32d17d007364cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Attaches the configuration to the addressed slave object.  <a href="#ab03a5b77c51578728a32d17d007364cc">More...</a><br /></td></tr>
<tr class="separator:ab03a5b77c51578728a32d17d007364cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa39222478a857c6f0edac29d6b22350a"><td class="memItemLeft" align="right" valign="top"><a id="aa39222478a857c6f0edac29d6b22350a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#aa39222478a857c6f0edac29d6b22350a">ec_slave_config_detach</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *)</td></tr>
<tr class="memdesc:aa39222478a857c6f0edac29d6b22350a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detaches the configuration from a slave object. <br /></td></tr>
<tr class="separator:aa39222478a857c6f0edac29d6b22350a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e141708e094e2e5ad9ea266696537af"><td class="memItemLeft" align="right" valign="top"><a id="a6e141708e094e2e5ad9ea266696537af"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#a6e141708e094e2e5ad9ea266696537af">ec_slave_config_load_default_sync_config</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *)</td></tr>
<tr class="memdesc:a6e141708e094e2e5ad9ea266696537af"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads the default PDO assignment from the slave object. <br /></td></tr>
<tr class="separator:a6e141708e094e2e5ad9ea266696537af"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae795e48b1a36b648bfc6c311b5515789"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#ae795e48b1a36b648bfc6c311b5515789">ec_slave_config_sdo_count</a> (const <a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *)</td></tr>
<tr class="memdesc:ae795e48b1a36b648bfc6c311b5515789"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of SDO configurations.  <a href="#ae795e48b1a36b648bfc6c311b5515789">More...</a><br /></td></tr>
<tr class="separator:ae795e48b1a36b648bfc6c311b5515789"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8465a530f6397357f3b6559c70da3a36"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#a8465a530f6397357f3b6559c70da3a36">ec_slave_config_get_sdo_by_pos_const</a> (const <a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *, unsigned int)</td></tr>
<tr class="memdesc:a8465a530f6397357f3b6559c70da3a36"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finds an SDO configuration via its position in the list.  <a href="#a8465a530f6397357f3b6559c70da3a36">More...</a><br /></td></tr>
<tr class="separator:a8465a530f6397357f3b6559c70da3a36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8f308d05844508a60fa5e743b8781d3"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#aa8f308d05844508a60fa5e743b8781d3">ec_slave_config_idn_count</a> (const <a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *)</td></tr>
<tr class="memdesc:aa8f308d05844508a60fa5e743b8781d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of IDN configurations.  <a href="#aa8f308d05844508a60fa5e743b8781d3">More...</a><br /></td></tr>
<tr class="separator:aa8f308d05844508a60fa5e743b8781d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0f79036d990fb9b8b609302580b3136"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structec__soe__request__t.html">ec_soe_request_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#ad0f79036d990fb9b8b609302580b3136">ec_slave_config_get_idn_by_pos_const</a> (const <a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *, unsigned int)</td></tr>
<tr class="memdesc:ad0f79036d990fb9b8b609302580b3136"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finds an IDN configuration via its position in the list.  <a href="#ad0f79036d990fb9b8b609302580b3136">More...</a><br /></td></tr>
<tr class="separator:ad0f79036d990fb9b8b609302580b3136"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab171d9cd640f7c30268e92632e919c02"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#ab171d9cd640f7c30268e92632e919c02">ec_slave_config_find_sdo_request</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *, unsigned int)</td></tr>
<tr class="memdesc:ab171d9cd640f7c30268e92632e919c02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finds a CoE handler via its position in the list.  <a href="#ab171d9cd640f7c30268e92632e919c02">More...</a><br /></td></tr>
<tr class="separator:ab171d9cd640f7c30268e92632e919c02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1734ae1f8efd8a7f4504f64c0bc1c2e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__ApplicationInterface.html#ga85a829c5133104f0d21f9e6684201d79">ec_reg_request_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#aa1734ae1f8efd8a7f4504f64c0bc1c2e">ec_slave_config_find_reg_request</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *, unsigned int)</td></tr>
<tr class="memdesc:aa1734ae1f8efd8a7f4504f64c0bc1c2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finds a register handler via its position in the list.  <a href="#aa1734ae1f8efd8a7f4504f64c0bc1c2e">More...</a><br /></td></tr>
<tr class="separator:aa1734ae1f8efd8a7f4504f64c0bc1c2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8dd6f6985e8c7505b22d61816a312403"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__ApplicationInterface.html#ga498dd422118de7095af5287ef9a6eed1">ec_voe_handler_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#a8dd6f6985e8c7505b22d61816a312403">ec_slave_config_find_voe_handler</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *, unsigned int)</td></tr>
<tr class="memdesc:a8dd6f6985e8c7505b22d61816a312403"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finds a VoE handler via its position in the list.  <a href="#a8dd6f6985e8c7505b22d61816a312403">More...</a><br /></td></tr>
<tr class="separator:a8dd6f6985e8c7505b22d61816a312403"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb245bf380388075266cde531b8f578e"><td class="memItemLeft" align="right" valign="top"><a id="aeb245bf380388075266cde531b8f578e"></a>
<a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#aeb245bf380388075266cde531b8f578e">ecrt_slave_config_create_sdo_request_err</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *, uint16_t, uint8_t, size_t)</td></tr>
<tr class="memdesc:aeb245bf380388075266cde531b8f578e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as <a class="el" href="group__ApplicationInterface.html#ga14aa167c0d4afd84b0fbada417a204f1" title="Create an SDO request to exchange SDOs during realtime operation. ">ecrt_slave_config_create_sdo_request()</a>, but with ERR_PTR() return value. <br /></td></tr>
<tr class="separator:aeb245bf380388075266cde531b8f578e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac689789b2a34a2e2c3c2acf401d41e56"><td class="memItemLeft" align="right" valign="top"><a id="ac689789b2a34a2e2c3c2acf401d41e56"></a>
<a class="el" href="group__ApplicationInterface.html#ga498dd422118de7095af5287ef9a6eed1">ec_voe_handler_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#ac689789b2a34a2e2c3c2acf401d41e56">ecrt_slave_config_create_voe_handler_err</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *, size_t)</td></tr>
<tr class="memdesc:ac689789b2a34a2e2c3c2acf401d41e56"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as <a class="el" href="group__ApplicationInterface.html#ga6341627f6bf764312dd6e8c3140e9be1" title="Create an VoE handler to exchange vendor-specific data during realtime operation. ...">ecrt_slave_config_create_voe_handler()</a>, but with ERR_PTR() return value. <br /></td></tr>
<tr class="separator:ac689789b2a34a2e2c3c2acf401d41e56"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd699b4b268868a4a27a26aa6384ded6"><td class="memItemLeft" align="right" valign="top"><a id="afd699b4b268868a4a27a26aa6384ded6"></a>
<a class="el" href="group__ApplicationInterface.html#ga85a829c5133104f0d21f9e6684201d79">ec_reg_request_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave__config_8h.html#afd699b4b268868a4a27a26aa6384ded6">ecrt_slave_config_create_reg_request_err</a> (<a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *, size_t)</td></tr>
<tr class="memdesc:afd699b4b268868a4a27a26aa6384ded6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as <a class="el" href="group__ApplicationInterface.html#ga1805e57c39e7bb12840c5e2589021dbe" title="Create a register request to exchange EtherCAT register contents during realtime operation. ">ecrt_slave_config_create_reg_request()</a>, but with ERR_PTR() return value. <br /></td></tr>
<tr class="separator:afd699b4b268868a4a27a26aa6384ded6"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>EtherCAT slave configuration structure. </p>

<p class="definition">Definition in file <a class="el" href="slave__config_8h_source.html">slave_config.h</a>.</p>
</div><h2 class="groupheader">Macro Definition Documentation</h2>
<a id="a7eeb6d909155c106ec7e67f19c2c85ad"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7eeb6d909155c106ec7e67f19c2c85ad">&#9670;&nbsp;</a></span>EC_CONFIG_INFO</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">#define EC_CONFIG_INFO</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">sc, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">fmt, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">args...&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Value:</b><div class="fragment"><div class="line">printk(KERN_INFO <span class="stringliteral">&quot;EtherCAT %u %u:%u: &quot;</span> fmt, sc-&gt;master-&gt;index, \</div><div class="line">            sc-&gt;alias, sc-&gt;position, ##args)</div></div><!-- fragment -->
<p>Convenience macro for printing configuration-specific information to syslog. </p>
<p>This will print the message in <em>fmt</em> with a prefixed "EtherCAT &lt;INDEX&gt; &lt;ALIAS&gt;:&lt;POSITION&gt;: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>EtherCAT slave configuration </td></tr>
    <tr><td class="paramname">fmt</td><td>format string (like in printf()) </td></tr>
    <tr><td class="paramname">args</td><td>arguments (optional) </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8h_source.html#l00061">61</a> of file <a class="el" href="slave__config_8h_source.html">slave_config.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a295443b66bd44e07fe464ed83ead05fc">&#9670;&nbsp;</a></span>EC_CONFIG_ERR</h2>

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          <td class="memname">#define EC_CONFIG_ERR</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">sc, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">fmt, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">args...&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Value:</b><div class="fragment"><div class="line">printk(KERN_ERR <span class="stringliteral">&quot;EtherCAT ERROR %u %u:%u: &quot;</span> fmt, sc-&gt;master-&gt;index, \</div><div class="line">            sc-&gt;alias, sc-&gt;position, ##args)</div></div><!-- fragment -->
<p>Convenience macro for printing configuration-specific errors to syslog. </p>
<p>This will print the message in <em>fmt</em> with a prefixed "EtherCAT &lt;INDEX&gt; &lt;ALIAS&gt;:&lt;POSITION&gt;: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>EtherCAT slave configuration </td></tr>
    <tr><td class="paramname">fmt</td><td>format string (like in printf()) </td></tr>
    <tr><td class="paramname">args</td><td>arguments (optional) </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8h_source.html#l00075">75</a> of file <a class="el" href="slave__config_8h_source.html">slave_config.h</a>.</p>

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<a id="a3115d8b69eddec5caf436c109fbf5b41"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3115d8b69eddec5caf436c109fbf5b41">&#9670;&nbsp;</a></span>EC_CONFIG_WARN</h2>

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          <td class="memname">#define EC_CONFIG_WARN</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">sc, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">fmt, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">args...&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Value:</b><div class="fragment"><div class="line">printk(KERN_WARNING <span class="stringliteral">&quot;EtherCAT WARNING %u %u:%u: &quot;</span> fmt, \</div><div class="line">            sc-&gt;master-&gt;index, sc-&gt;alias, sc-&gt;position, ##args)</div></div><!-- fragment -->
<p>Convenience macro for printing configuration-specific warnings to syslog. </p>
<p>This will print the message in <em>fmt</em> with a prefixed "EtherCAT &lt;INDEX&gt; &lt;ALIAS&gt;:&lt;POSITION&gt;: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>EtherCAT slave configuration </td></tr>
    <tr><td class="paramname">fmt</td><td>format string (like in printf()) </td></tr>
    <tr><td class="paramname">args</td><td>arguments (optional) </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8h_source.html#l00089">89</a> of file <a class="el" href="slave__config_8h_source.html">slave_config.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7aa9e6ccd549993399cfb813f6f81643">&#9670;&nbsp;</a></span>EC_CONFIG_DBG</h2>

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          <td class="memname">#define EC_CONFIG_DBG</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">sc, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">level, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">fmt, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">args...&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Value:</b><div class="fragment"><div class="line"><span class="keywordflow">do</span> { \</div><div class="line">        if (sc-&gt;master-&gt;debug_level &gt;= level) { \</div><div class="line">            printk(KERN_DEBUG <span class="stringliteral">&quot;EtherCAT DEBUG %u %u:%u: &quot;</span> fmt, \</div><div class="line">                    sc-&gt;master-&gt;index, sc-&gt;alias, sc-&gt;position, ##args); \</div><div class="line">        } \</div><div class="line">    } <span class="keywordflow">while</span> (0)</div></div><!-- fragment -->
<p>Convenience macro for printing configuration-specific debug messages to syslog. </p>
<p>This will print the message in <em>fmt</em> with a prefixed "EtherCAT &lt;INDEX&gt; &lt;ALIAS&gt;:&lt;POSITION&gt;: ", where INDEX is the master index and ALIAS and POSITION identify the configuration.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>EtherCAT slave configuration </td></tr>
    <tr><td class="paramname">level</td><td>Debug level. Master's debug level must be &gt;= <em>level</em> for output. </td></tr>
    <tr><td class="paramname">fmt</td><td>format string (like in printf()) </td></tr>
    <tr><td class="paramname">args</td><td>arguments (optional) </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8h_source.html#l00106">106</a> of file <a class="el" href="slave__config_8h_source.html">slave_config.h</a>.</p>

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<h2 class="groupheader">Function Documentation</h2>
<a id="a1f74fc37c81571a4ce339c0fb07d6223"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1f74fc37c81571a4ce339c0fb07d6223">&#9670;&nbsp;</a></span>ec_slave_config_init()</h2>

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          <td class="memname">void ec_slave_config_init </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga60ec31b46fcf7994c511359402c64baa">ec_master_t</a> *&#160;</td>
          <td class="paramname"><em>master</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t&#160;</td>
          <td class="paramname"><em>alias</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t&#160;</td>
          <td class="paramname"><em>position</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>vendor_id</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>product_code</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Slave configuration constructor. </p>
<p>See <a class="el" href="group__ApplicationInterface.html#gaa190a5d3aa2a72b8950ef93aa7baab0b" title="Obtains a slave configuration. ">ecrt_master_slave_config()</a> for the usage of the <em>alias</em> and <em>position</em> parameters. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
    <tr><td class="paramname">master</td><td>EtherCAT master. </td></tr>
    <tr><td class="paramname">alias</td><td>Slave alias. </td></tr>
    <tr><td class="paramname">position</td><td>Slave position. </td></tr>
    <tr><td class="paramname">vendor_id</td><td>Expected vendor ID. </td></tr>
    <tr><td class="paramname">product_code</td><td>Expected product code. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00055">55</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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<a id="a5eb139fdc11dfc4c540fc43259eaa773"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5eb139fdc11dfc4c540fc43259eaa773">&#9670;&nbsp;</a></span>ec_slave_config_clear()</h2>

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          <td class="memname">void ec_slave_config_clear </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Slave configuration destructor. </p>
<p>Clears and frees a slave configuration object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00102">102</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab03a5b77c51578728a32d17d007364cc">&#9670;&nbsp;</a></span>ec_slave_config_attach()</h2>

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          <td class="memname">int ec_slave_config_attach </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Attaches the configuration to the addressed slave object. </p>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">0</td><td>Success. </td></tr>
    <tr><td class="paramname">&lt;0</td><td>Error code. </td></tr>
  </table>
  </dd>
</dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00208">208</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae795e48b1a36b648bfc6c311b5515789">&#9670;&nbsp;</a></span>ec_slave_config_sdo_count()</h2>

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          <td class="memname">unsigned int ec_slave_config_sdo_count </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get the number of SDO configurations. </p>
<dl class="section return"><dt>Returns</dt><dd>Number of SDO configurations. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00372">372</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8465a530f6397357f3b6559c70da3a36">&#9670;&nbsp;</a></span>ec_slave_config_get_sdo_by_pos_const()</h2>

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          <td class="memname">const <a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a>* ec_slave_config_get_sdo_by_pos_const </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>pos</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Finds an SDO configuration via its position in the list. </p>
<p>Const version.</p>
<dl class="section return"><dt>Returns</dt><dd>Search result, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
    <tr><td class="paramname">pos</td><td>Position in the list. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00394">394</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa8f308d05844508a60fa5e743b8781d3">&#9670;&nbsp;</a></span>ec_slave_config_idn_count()</h2>

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          <td class="memname">unsigned int ec_slave_config_idn_count </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Get the number of IDN configurations. </p>
<dl class="section return"><dt>Returns</dt><dd>Number of SDO configurations. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00416">416</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad0f79036d990fb9b8b609302580b3136">&#9670;&nbsp;</a></span>ec_slave_config_get_idn_by_pos_const()</h2>

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          <td class="memname">const <a class="el" href="structec__soe__request__t.html">ec_soe_request_t</a>* ec_slave_config_get_idn_by_pos_const </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>pos</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Finds an IDN configuration via its position in the list. </p>
<p>Const version.</p>
<dl class="section return"><dt>Returns</dt><dd>Search result, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
    <tr><td class="paramname">pos</td><td>Position in the list. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00438">438</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab171d9cd640f7c30268e92632e919c02">&#9670;&nbsp;</a></span>ec_slave_config_find_sdo_request()</h2>

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          <td class="memname"><a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a>* ec_slave_config_find_sdo_request </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>pos</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Finds a CoE handler via its position in the list. </p>
<dl class="section return"><dt>Returns</dt><dd>Search result, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
    <tr><td class="paramname">pos</td><td>Position in the list. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00460">460</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa1734ae1f8efd8a7f4504f64c0bc1c2e">&#9670;&nbsp;</a></span>ec_slave_config_find_reg_request()</h2>

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          <td class="memname"><a class="el" href="group__ApplicationInterface.html#ga85a829c5133104f0d21f9e6684201d79">ec_reg_request_t</a>* ec_slave_config_find_reg_request </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>pos</em>&#160;</td>
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<p>Finds a register handler via its position in the list. </p>
<dl class="section return"><dt>Returns</dt><dd>Search result, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
    <tr><td class="paramname">pos</td><td>Position in the list. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00482">482</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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<a id="a8dd6f6985e8c7505b22d61816a312403"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8dd6f6985e8c7505b22d61816a312403">&#9670;&nbsp;</a></span>ec_slave_config_find_voe_handler()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="group__ApplicationInterface.html#ga498dd422118de7095af5287ef9a6eed1">ec_voe_handler_t</a>* ec_slave_config_find_voe_handler </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga81f6717d9d4157df53b863e5ee3b04a4">ec_slave_config_t</a> *&#160;</td>
          <td class="paramname"><em>sc</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>pos</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Finds a VoE handler via its position in the list. </p>
<dl class="section return"><dt>Returns</dt><dd>Search result, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">sc</td><td>Slave configuration. </td></tr>
    <tr><td class="paramname">pos</td><td>Position in the list. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave__config_8c_source.html#l00504">504</a> of file <a class="el" href="slave__config_8c_source.html">slave_config.c</a>.</p>

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